CN101420749B - Determining method for indoor node region of wireless sensor network - Google Patents
Determining method for indoor node region of wireless sensor network Download PDFInfo
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Abstract
The invention discloses a method for judging a node region in a wireless sensor network chamber. The method comprises the following steps: determining which region does the mobile node belong to in a real-time manner for a point filtering mechanism and a surface filtering mechanism of RSSI information by reference to the RSSI information of an adjacent anchor node which is received by a mobile node to realize exact positioning of the mobile node while the mobile node moves among a plurality of regions. Therefore, an effective method is provided for positioning and tracking the mobile node while the mobile node moves among a plurality of regions.
Description
Technical field
The present invention relates to a kind of based on received signal intensity (Received Signal Strength, the decision method of indoor node region of wireless sensor network RSS).
Background technology
Following the tracks of in the application based on the mobile object of radio sensing network or personnel's location, this type systematic comprises the anchor node and the mobile node of some usually.Wherein anchor node is the node of known self physical location information in the system, and as being arranged in given position etc. in advance, it is static that these nodes keep in system usually.Anchor node periodically sends the acquisition of signal bag, mobile node then calculates received signal intensity indication (Received Signal StrengthIndicator according to the detection packet that receives, RSSI) information, and a plurality of RSSI information sets that will receive dress up a packet and are sent to server by the multi-hop route, calculate the current real time position of each mobile object by server.
When mobile node moves, the acquisition of signal bag of the anchor node transmission that is positioned at zones of different will be received between indoor (as exhibition center, office etc.) a plurality of zones (as room, compartment, corridor etc.).Yet separated by barriers such as wall, baffle plate, glass doors between room area, the detection packet that therefore is positioned at the anchor node transmission of zones of different need arrive mobile node through barrier, cause these RSSI values fluctuations (Fluctuate) bigger.Follow the tracks of if be directly used in the location of moving target, the tracking error of gained is bigger.At this problem that exists in the indoor positioning, we adopt and determine the residing zone of mobile node by RSSI information earlier, utilize the location of the RSSI information realization of anchor node in the zone to mobile node again, the key of this method is predicate node region correctly.
Document [Yui-Wah Lee, Erich Stuntebeck, and Scott C.Miller, " MERIT:Mesh of RF Sensors for Indoor Tracking ", Secon ' 06,2006; ] in regional determination algorithm based on RSSI information has been proposed, this algorithm is at first collected the RSSI value of the interior anchor node in each zone to mobile node, calculate the mean value of anchor node RSSI value in this zone again, the zone of mean value maximum promptly is judged to be the mobile node region.The advantage of this algorithm has been to consider the signal attenuation characteristic of wireless signal when through walls, but if in real system when running into wall wireless signal being weakened situations such as little (a lot of cavity wall in for example modern building), two zones that communicate (as the corridor) or area size be inconsistent, the positioning accuracy of this algorithm will reduce greatly.
Summary of the invention
The objective of the invention is: the decision method that a kind of indoor node region based on radio sensing network is provided, with mobile node receive near anchor node RSSI information as a reference, determine in real time by some strobe utility and face strobe utility which zone mobile node belongs to RSSI information, realized mobile node accurate location when mobile between multizone, for mobile node location and tracking when mobile between multizone provides a kind of effective method.
Technical scheme of the present invention is:
A kind of localization method of the indoor node region based on radio sensing network, described indoor be provided with anchor node and received signal detection packet that periodically sends the acquisition of signal bag and the mobile node that calculates received signal intensity indication RSSI information according to the acquisition of signal bag, described mobile node sends to tracking server after the RSSI information sets is dressed up packet, it is characterized in that described tracking server positions the mobile node region according to the following steps according to RSSI information:
Step 1: make up the membership array A in anchor node and zone and each anchor node in abutting connection with the anchor node collection, and with the RSSI information that mobile node the is collected preliminary treatment of sorting;
Step 2: if maximum RSSI value, is positioned at mobile node the corresponding anchor node region of maximum RSSI value so more than or equal to certain constant MR, the location stops; Otherwise, carry out step 3;
Step 3: if two maximum anchor nodes of RSSI value are positioned at the same area, then mobile node navigates to this zone, and the location stops; Otherwise, select the anchor node of RSSI value, and construct set of candidate regions PAS with this greater than certain threshold values, in described set PAS, four carry out zone location set by step;
Step 4: if this set of candidate regions PAS only comprises a zone, so mobile node is navigated to this zone, the location stops; Otherwise screening deletion RSSI value obtains changeing step 5 behind the current candidate region collection PAS less than the anchor node region of certain threshold values from the collection PAS of candidate region;
Step 5: only comprise a zone if current PAS concentrates, then mobile node is navigated to this zone, the location stops; Otherwise utilizing in abutting connection with the anchor node collection is weights of each region allocation in the current PAS set, and mobile node navigates to the zone of maximum weights correspondence the most at last, and the location stops.
More specifically, method of the present invention specifically comprises the steps:
Step 1: the membership array A[id in structure anchor node and zone] in [2] (because anchor node may be in intra-zone or two regional intersections, thus each anchor node will be under the jurisdiction of 1-2 regional); Be each anchor node u structure neighbor node collection CA[u], promptly in other zones and from the nearest anchor node set of this anchor node.The RSSI information that mobile node is collected is stored in array RSSI[nBeacon by order from big to small] in [2], wherein nBeacon represents the number of anchor node, RSSI[nBeacon] [0] storage anchor node Id, RSSI[nBeacon] [1] storage corresponding RSSI information.
Step 2: if maximum RSSI value more than or equal to constant MR, then directly is positioned at mobile node the pairing anchor node of maximum RSSI value region, algorithm stops; Otherwise, change step 3.Above-mentioned steps is called a strobe utility.
Step 3: if two maximum anchor nodes of RSSI value are positioned at same regional s, judge that then mobile node is positioned at this zone, algorithm stops.Otherwise the maximum RSSI value of note is α
m, the selective reception signal strength signal intensity is greater than α
mThe anchor node set of-δ correspondence is designated as HBS; Each anchor node The corresponding area among the HBS is joined among the set PAS; If final PAS set only comprises a zone, judge that then mobile node is positioned at this zone, algorithm stops; Otherwise, change step 4.
Step 4: for the less anchor node of some RSSI values, we think that mobile node can not be positioned at the zone at these anchor node places, and the regional ensemble that step 3 is calculated screens in view of the above.Concrete method is as follows: set another threshold values LR, the selective reception signal strength signal intensity is designated as LBS less than the node set of this threshold values; To gather among the LBS node The corresponding area screens out from set PAS.
Step 5: if the PAS collection only comprises a zone after the screening, judge that then mobile node is in this zone, algorithm stops; Otherwise promptly current PAS concentrates and to have a plurality of zones and can not differentiate the time, then adopt a kind of comprehensive distinguishing mechanism based on adjacency anchor node information, thereby realize the accurate judgement to the zone.
This comprehensive distinguishing mechanism based on adjacency anchor node information is that utilizing in abutting connection with the anchor node collection is weights of each region allocation in the current PAS set, and mobile node navigates to the zone of maximum weights correspondence the most at last, and algorithm stops.Concrete method is as follows: to each the regional A in the PAS set, from set HBS, find out the anchor node that belongs to A, calculate the maximum RSSI value in the adjacent node of these anchor nodes, be designated as mRSSI, obtain several to (A, mRSSI); To all several to sorting according to mRSSI, the regional A of maximum correspondence is stored in S set
1If S set
1Finally only comprise a zone, judge that then mobile node is in this zone; Otherwise abandon this packet, the mobile node region remains unchanged.
Above-mentioned steps three to five is called the face strobe utility.
Advantage of the present invention is:
1. some strobe utility: utilize received signal intensity characteristic greater than certain threshold values under the very near situation of two nodal distances to position, final position error is minimum;
2. face strobe utility: utilize the bigger joint structure candidate region of RSSI value, screen by the RSSI value of RSSI smaller value and adjacent node, its regional determination error probability as a result is less.
3. the present invention is particularly suitable for moving target in indoor a plurality of interregional mobile location and tracking application, as clerk's orientation management system, Prison staff real-time management system etc.This shows that the present invention has expanded the space for the technological progress of this area, implementation result is good.
To sum up, the invention provides a kind of decision method of indoor node region of wireless sensor network, wherein: mobile node (or object) is collected the RSSI information of closing on anchor node, determine mobile node zone of living in by tracking server in real time by some strobe utility and face strobe utility then, and then realize the location of mobile node is followed the tracks of, can carry out tracking and management to mobile object or personnel.
Description of drawings
Below in conjunction with drawings and Examples the present invention is further described:
The execution mode that Fig. 1 calculates for the PAS set;
Fig. 2 is PAS set screening execution mode;
Fig. 3 judges execution mode for neighboring region;
Fig. 4 is the anchor node placement location schematic diagram among the embodiment;
Fig. 5 is test position and the positioning result schematic diagram among the embodiment.
Embodiment
Embodiment: a kind of decision method of indoor node region of wireless sensor network, at first carry out RSSI information gathering, then the RSSI information sets of collecting is dressed up a packets of information and be sent to location-server, then RSSI information is handled by server, obtain the regional location of mobile node at last, its special feature is: adopt some strobe utility and face strobe utility that mobile node is carried out regional determination.
Specifically, RSSI information gathering is meant: anchor node is (being the cycle with 2 seconds for example) broadcast singal detection packet periodically, mobile node obtains RSSI information after receiving the detection packet of anchor node, a plurality of RSSI information sets are dressed up a packet be sent to base-station node, and finally transfer to the tracking system server by the multi-hop routing mechanism.
Further, location-server is whenever received a RSSI packet, just node is positioned calculating.Because radio frequency (RF) signal exists attenuation effect and multipath to disturb in communication process, so the RSSI information of collecting is implemented the some strobe utility for we and the face strobe utility carries out regional determination, improve the accuracy that indoor positioning is followed the tracks of.
Under the very near situation of two nodal distances, received signal is stronger, and its RSSI value is also bigger.Therefore, for those more special extremely strong signal strength values, if promptly maximum RSSI value is more than or equal to constant MR (getting 195) in system, can think two node close proximity, then directly mobile node is positioned at the corresponding anchor node region of maximum RSSI value, this method is called a strobe utility.
Yet as a rule, the RSSI information of collection does not satisfy extremely strong signal strength signal intensity Rule of judgment, therefore next adopts the face strobe utility to realize regional determination.At first, structure anchor node and regional corresponding array A[id] [2] (because anchor node may be positioned at intra-zone or two regional intersections, so corresponding 1-2 the zone of each anchor node); And construct nearest anchor node collection CA[u for each anchor node u], promptly in other zones and from the nearest anchor node set of this anchor node.RSSI[nBeacon] [2] array preserves the RSSI information that mobile node is collected according to the order of sequence, wherein nBeacon is the RSSI information number of collecting, RSSI[nBeacon] and the id of [0] record anchor node, RSSI[nBeacon] the corresponding RSSI of [1] record.
Then, if two maximum anchor nodes of RSSI value are positioned at same regional s, judge that then mobile node is in this zone s.Otherwise we think that mobile node is positioned at certain bigger anchor node region of RSSI value.Embodiment is as follows: the maximum RSSI value of note is α
m, selective reception signal strength signal intensity then is greater than α
mThe anchor node set of-δ correspondence is designated as HBS.In the specific implementation, if α
m＞=190 o'clock, δ got 8; Work as α
m＜190 o'clock, then δ got 5.The zone of each the anchor node correspondence among the HBS is added among the set PAS; If final set PAS only comprises an element, judge that then mobile node is in the zone, see that Fig. 1 is described.
Specific implementation can be as follows:
α
m＝MAX{RSSI[0..nBeacon-1][1]}；
For?i＝0?to?nBeacon-1
If?RSSI[i][1]＞α
m-δthen?HBS＝HBSU{RSSI[i][0]}；
For each u ∈ HBS, PAS=PAS ∪ { A (u) }; Note PAS={s
1, s
2....
If?|PAS|＝1?then
Result=First (PAS), algorithm stops; }
Subsequently, we think that mobile node can not be positioned at the less anchor node region of RSSI value, screens regional ensemble PAS in view of the above.Embodiment is as follows: set another threshold values LR (get 170 during system implementation, even littler), the selective reception signal strength signal intensity is designated as LBS less than the node set of this threshold values.To gather among the LBS node The corresponding area then screens out from set PAS.If final PAS only comprises a zone, judge that then mobile node is in this zone.
Specific implementation can be as follows:
For?i＝0?to?nBeacon-1
If?RSSI[i][1]＜LR?then?LBS＝LBSU{RSSI[i][0]}；
Fo?reach?u∈LBS
PAS＝PAS-{A(u)}；
If?|PAS|＝1?then?result＝First(PAS)；
At last, when also comprising a plurality of zone among the regional ensemble PAS, then adopt a kind of synthetic determination mechanism, realize accurate regional determination based on adjacency anchor node information as if this moment.Embodiment is as follows: to each regional A among the PAS, find out the anchor node that belongs to A the HBS, calculate the RSSI value of maximum in the contiguous anchor node of these anchor nodes, be designated as mRSSI from set, obtain several to (A, mRSSI); To all several to sorting according to mRSSI, the regional A of maximum correspondence is stored in S set
1If last S set
1Only comprise a zone, judge that then mobile node is in this zone.Otherwise abandon this bag, the mobile node zone is constant.
Specific implementation is as follows:
For?each?s?in?PAS{
For?each?u?in?HBS
If?A(u)＝s?then?temp1＝temp1∪{id}；
For?each?u?in?temp1
For?each?v?in?CA[u]
For?i＝0?to?nBeacon-1
If?RSSI[i][0]＝v?then?temp2＝temp2∪{RSSI[i][1]}
mRSSI＝Max{temp2}；
Obtain several to (s, mRSSI); }
To all several to according to the mRSSI ordering, the regional s of maximum correspondence is stored in S set
1
If|S
1|=1 then{result=First (S
1), algorithm stops.}
The test program of present embodiment is based on TinyOS 1.1.10 system, utilizes the application program of NesC language development on the micaZ platform, and wherein the RF energy level is made as TXPOWER_MAX.Experiment is carried out in Building three, the human-oriented building of Suzhou Institute for Advanced Study, USTC, used the MicaZ node of 24 crossbow companies in the experiment, wherein 22 as anchor node (position is seen shown in Figure 4), 1 links to each other with server by serial ports as the base station, and 1 is used as mobile node (can extend to a plurality of mobile nodes).
Algorithm realizes being divided into two stages, first stage is RSSI information gathering, and the cycle of anchor node broadcast singal detection packet is 1.5s, and we note the RSSI value of each anchor node that mobile node receives, and sending to the base station, the base station sends to the server program of computer terminal again by serial ports; Second stage is that server program utilizes the regional determination algorithm that mobile node is carried out the indoor positioning tracking.
Experimental result: as shown in Figure 5, when mobile node was in position 1-4, the RSSI signal of collection saw Table shown in the 1-4, and the position that this algorithm computation obtains lays respectively at A, B, and C and D place are from scheming to show that the regional determination result of this algorithm is more accurate as can be known.
The RSSI information that collect at 1 place, table 1 position
| Node number | 38 | 35 | 32 | 31 | 37 | 30 | 43 | 40 |
| RSSI | 190 | 186 | 182 | 180 | 178 | 177 | 174 | 167 |
The RSSI information that collect at 2 places, table 2 position
| Node number | 32 | 30 | 10 | 38 | 37 | 35 | 42 | 40 |
| RSSI | 192 | 188 | 187 | 182 | 178 | 176 | 176 | 175 |
The RSSI information that collect at 3 places, table 3 position
| Node number | 23 | 24 | 32 | 25 | 28 | 30 | 40 | 10 |
| RSSI | 185 | 182 | 180 | 180 | 178 | 176 | 172 | 169 |
The RSSI information that collect at 4 places, table 4 position
| Node number | 40 | 42 | 10 | 32 | 38 | 44 | 30 | 45 |
| RSSI | 195 | 191 | 182 | 180 | 179 | 176 | 176 | 176 |
The present invention is wireless sensor network (Wireless Sensor Network, WSN) Kai Fa the mobile node regional determination algorithm based on TinyOS.Wherein, the Mica series node that the node type of the support platform of this agreement is produced for CrossBow company, as Mica2, MicaZ etc., the MIB510 plate that the base station adopts CrossBow company to produce.This location algorithm provides a kind of effective method for mobile node location and tracking when mobile between multizone.
In sum, after adopting the present invention, near the RSSI information of the anchor node that can receive with mobile node as a reference, determine in real time by some strobe utility and face filter system which zone mobile node belongs to RSSI information, realized mobile node accurate location when mobile between multizone, for mobile node location and tracking when mobile between multizone provides a kind of effective method.This shows that the present invention has substantive technical characterstic and significant technological progress, its application prospect is boundless.
Claims (1)
1. localization method based on the indoor node region of radio sensing network, described indoor be provided with anchor node and received signal detection packet that periodically sends the acquisition of signal bag and the mobile node that calculates received signal intensity indication RSSI information according to the acquisition of signal bag, described mobile node sends to tracking server after the RSSI information sets is dressed up packet, it is characterized in that described tracking server positions the mobile node region according to the following steps according to RSSI information:
Step 1: make up the membership array A in anchor node and zone and each anchor node in abutting connection with the anchor node collection, and with the RSSI information that mobile node the is collected preliminary treatment of sorting;
Step 2: if maximum RSSI value, is positioned at mobile node the corresponding anchor node region of maximum RSSI value so more than or equal to certain constant MR, the location stops; Otherwise, carry out step 3;
Step 3: if two maximum anchor nodes of RSSI value are positioned at the same area, then mobile node navigates to this zone, and the location stops; Otherwise, select the anchor node of RSSI value, and construct set of candidate regions PAS with this greater than certain threshold values, in described set PAS, four carry out zone location set by step;
Step 4: if this set of candidate regions PAS only comprises a zone, so mobile node is navigated to this zone, the location stops; Otherwise screening deletion RSSI value obtains changeing step 5 behind the current candidate region collection PAS less than the anchor node region of certain threshold values from the collection PAS of candidate region;
Step 5: only comprise a zone if current PAS concentrates, then mobile node is navigated to this zone, the location stops; Otherwise utilizing in abutting connection with the anchor node collection is weights of each region allocation in the current PAS set, and mobile node navigates to the zone of maximum weights correspondence the most at last, and the location stops.
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| CN101561487B (en) * | 2009-05-13 | 2011-07-20 | 大连理工大学 | Indoor space locating method |
| CN102083201A (en) * | 2009-11-30 | 2011-06-01 | 北京时代凌宇科技有限公司 | Positioning method and device based on wireless sensor network |
| CN101945472B (en) * | 2010-05-18 | 2013-07-03 | 东南大学 | Method for positioning multiple moving targets by wireless sensor network syncretized with radio frequency identification |
| CN101883409B (en) * | 2010-06-18 | 2013-01-23 | 西安电子科技大学 | RSSI-and-LQI-based rapid switch method in wireless sensor network |
| CN102164409A (en) * | 2011-03-31 | 2011-08-24 | 中国科学技术大学苏州研究院 | Multiple mobile node location update mechanism (LUM) for wireless sensor network tracking system |
| CN103002570B (en) * | 2011-09-08 | 2015-04-22 | 华枫信通(北京)科技有限公司 | Wireless positioning method based on set operation |
| CN102685886A (en) * | 2012-04-16 | 2012-09-19 | 浙江大学城市学院 | Indoor positioning method applied to mobile sensing network |
| CN102970727B (en) * | 2012-10-31 | 2015-03-11 | 哈尔滨工业大学 | Medical care location and warning method based on wireless sensor network |
| CN102970748B (en) * | 2012-11-08 | 2015-08-05 | 林子怀 | Wireless personnel area location method |
| CN105520722B (en) * | 2016-01-20 | 2019-03-08 | 江汉大学 | A kind of life physical sign monitoring device applied to swimming pool lifesaving, system and method |
| CN105873211A (en) * | 2016-04-29 | 2016-08-17 | 安徽华米信息科技有限公司 | Positioning method and device |
| CN106772325A (en) * | 2016-11-24 | 2017-05-31 | 北京睿思奥图智能科技有限公司 | A kind of trans-regional ultrasound locating method and system based on RF |
| CN107121661B (en) * | 2017-04-11 | 2019-12-06 | 安徽华米信息科技有限公司 | Positioning method, device and system and server |
| CN107885208B (en) * | 2017-11-10 | 2021-03-30 | 广东工业大学 | Robot positioning method and system and robot |
| CN110809230A (en) * | 2018-08-01 | 2020-02-18 | 珠海格力电器股份有限公司 | Positioning information acquisition method and device |
| CN111179634B (en) * | 2019-12-04 | 2021-04-27 | 浙江科技学院 | Indoor parking system based on Wi-Fi position fingerprint |
| CN113766600B (en) * | 2021-09-18 | 2024-02-06 | 浙江万里学院 | Mobile target positioning method of multi-base station wireless sensor network |
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Assignee: Jiangsu Jiqun Information Industry Co., Ltd. Assignor: Suzhou Institute for Advanced Study, USTC Contract record no.: 2010320000551 Denomination of invention: Determining method for indoor node region of wireless sensor network License type: Exclusive License Open date: 20090429 Record date: 20100506 |
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